Omron OMNUC G5 R88M-K series User Manual page 258

6-9 Gain Switching Function
SPEED CONTROL mode
In the SPEED CONTROL mode, it varies as follows according to SWITCHING mode in Speed
Control (Pn120).
Pn120
set
value
6
*1.The Gain Switching Delay Time in Speed Control (Pn121) becomes effective when the gain is switched
from 2 to 1.
*2.The Gain Switching Hysteresis in Speed Control (Pn123) is defined in the drawing below.
*3. When the Gain switching command of MECHATROLINK-II communications (G-SEL) is 0, the gain
switches to Gain 1. When the command is 1, the gain switches to Gain 2.
*4.The variation means the change amount in a millisecond (ms).
E.g. The set value is 200 when the condition is a 10% change in torque in 1 millisecond.
6-29
Gain switching conditions
0 Always the Gain 1 (Pn100 to Pn104).
1 Always the Gain 2 (Pn105 to Pn109).
Gain switching command input via
2 MECHATROLINK-II communications
*3
Torque command variation (Refer to
3
Figure A)
Speed command change amount
4
(Refer to Figure B)
Speed command (Refer to Figure C)
5
Pn122
0
Gain 1 Gain 2
OMNUC G5-Series AC Servo Drives Users Manual (Built-in MECHATROLINK-II communications type)
Description
Gain Gain
Switching Switching
Delay Time in Level in Speed
Speed Control Control
*1
(Pn121) (Pn122)
Disabled Disabled
Disabled Disabled
Disabled Disabled
Enabled
Enabled
(0.05%)
Enabled
Enabled
(10r/min/s)
Enabled
Enabled
(r/min)
Pn123
Gain 1
Pn121
Gain Switching
Hysteresis in
Speed Control
*2
(Pn123)
Disabled
Disabled
Disabled
*4 *4
Enabled
(0.05%)
*5 *5
Enabled
(10r/min/s)
Enabled
(r/min)